/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * author: Dave Hershberger
 */

#include <cstdio>  // for EOF
#include <string>
#include <sstream>
#include <vector>

namespace costmap_2d
{

/** 从给定字符串获取足迹
* @brief Parse a vector of vector of floats from a string.
* @param input
* @param error_return
* Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]
*/
std::vector<std::vector<float> > parseVVF(const std::string &input, std::string &error_return)
{
    std::vector<std::vector<float> > result;
    std::stringstream input_ss(input);
    int depth = 0;
    std::vector<float> current_vector;
    while (!!input_ss && !input_ss.eof())
    {
        switch (input_ss.peek())
        {
            case EOF:
                break;
            case '[':
                depth++;
                if (depth > 2)
                {
                    error_return = "Array depth greater than 2";
                    return result;
                }
                input_ss.get();
                current_vector.clear();
                break;
            case ']':
                depth--;
                if (depth < 0)
                {
                    error_return = "More close ] than open [";
                    return result;
                }
                input_ss.get();
                if (depth == 1)
                {
                    result.push_back(current_vector);
                }
                break;
            case ',':
            case ' ':
            case '\t':
                input_ss.get();
                break;
            default:  // All other characters should be part of the numbers.
                if (depth != 2)
                {
                    std::stringstream err_ss;
                    err_ss << "Numbers at depth other than 2. Char was '" << char(input_ss.peek()) << "'.";
                    error_return = err_ss.str();
                    return result;
                }
                float value;
                input_ss >> value;
                if (!!input_ss)
                {
                    current_vector.push_back(value);
                }
                break;
        }
    }
    if (depth != 0) error_return = "Unterminated vector string.";
    else error_return = "";
    return result;
}

}  // end namespace costmap_2d
